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NVlabs / dex-ycb-toolkit

A Python package that provides evaluation and visualization tools for the DexYCB dataset
https://dex-ycb.github.io
GNU General Public License v3.0
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Why y-axis and z-axis multiply by -1? #40

Closed samlim134 closed 4 months ago

samlim134 commented 4 months ago

Hi thank you for the work, just wondering why in file like examples/visualize_pose.py: Why do we need to multiply those axes by -1? Is it alright if we don't?

In line 58-59: pose[1] = -1 pose[2] = -1

In line 78-79: vert[:, 1] = -1 vert[:, 2] = -1

ychao-nvidia commented 4 months ago

This is for converting from OpenCV to OpenGL convention. Poses in the annotation are saved in OpenCV camera coordinates, while rendering with pyrender requires OpenGL.

samlim134 commented 4 months ago

Oh, I understand now. Thank you for the quick reply!